% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function [torque] = ComputeServoTorque(r22_current)
% ComputeServoTorque -- Compute servo torque from r22_current.
%
% [torque] = ComputeServoTorque(r22_current)
% Computes servo torque from current readings on the R22 module.
%
% Arguments
%
% r22_current: Numeric current (Amps) value or array of current values.
%
% Return values
%
% torque: Numeric torque (N-m) value or array of values (of the same dimensions as input r22_current).
%
% Required toolboxes: None.

servo_torque_constant = 38; % N-m/A
torque = servo_torque_constant * r22_current;

end
